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src/IOWrapper/OpenCV/ImageRW_OpenCV.cpp

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+/**
+* This file is part of DSO.
+* 
+* Copyright 2016 Technical University of Munich and Intel.
+* Developed by Jakob Engel <engelj at in dot tum dot de>,
+* for more information see <http://vision.in.tum.de/dso>.
+* If you use this code, please cite the respective publications as
+* listed on the above website.
+*
+* DSO is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* DSO is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with DSO. If not, see <http://www.gnu.org/licenses/>.
+*/
+
+
+
+#include "IOWrapper/ImageRW.h"
+#include <opencv2/highgui/highgui.hpp>
+
+
+namespace dso
+{
+
+namespace IOWrap
+{
+MinimalImageB* readImageBW_8U(std::string filename)
+{
+	cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_GRAYSCALE);
+	if(m.rows*m.cols==0)
+	{
+		printf("cv::imread could not read image %s! this may segfault. \n", filename.c_str());
+		return 0;
+	}
+	if(m.type() != CV_8U)
+	{
+		printf("cv::imread did something strange! this may segfault. \n");
+		return 0;
+	}
+	MinimalImageB* img = new MinimalImageB(m.cols, m.rows);
+	memcpy(img->data, m.data, m.rows*m.cols);
+	return img;
+}
+
+MinimalImageB3* readImageRGB_8U(std::string filename)
+{
+	cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_COLOR);
+	if(m.rows*m.cols==0)
+	{
+		printf("cv::imread could not read image %s! this may segfault. \n", filename.c_str());
+		return 0;
+	}
+	if(m.type() != CV_8UC3)
+	{
+		printf("cv::imread did something strange! this may segfault. \n");
+		return 0;
+	}
+	MinimalImageB3* img = new MinimalImageB3(m.cols, m.rows);
+	memcpy(img->data, m.data, 3*m.rows*m.cols);
+	return img;
+}
+
+MinimalImage<unsigned short>* readImageBW_16U(std::string filename)
+{
+	cv::Mat m = cv::imread(filename, CV_LOAD_IMAGE_UNCHANGED);
+	if(m.rows*m.cols==0)
+	{
+		printf("cv::imread could not read image %s! this may segfault. \n", filename.c_str());
+		return 0;
+	}
+	if(m.type() != CV_16U)
+	{
+		printf("readImageBW_16U called on image that is not a 16bit grayscale image. this may segfault. \n");
+		return 0;
+	}
+	MinimalImage<unsigned short>* img = new MinimalImage<unsigned short>(m.cols, m.rows);
+	memcpy(img->data, m.data, 2*m.rows*m.cols);
+	return img;
+}
+
+MinimalImageB* readStreamBW_8U(char* data, int numBytes)
+{
+	cv::Mat m = cv::imdecode(cv::Mat(numBytes,1,CV_8U, data), CV_LOAD_IMAGE_GRAYSCALE);
+	if(m.rows*m.cols==0)
+	{
+		printf("cv::imdecode could not read stream (%d bytes)! this may segfault. \n", numBytes);
+		return 0;
+	}
+	if(m.type() != CV_8U)
+	{
+		printf("cv::imdecode did something strange! this may segfault. \n");
+		return 0;
+	}
+	MinimalImageB* img = new MinimalImageB(m.cols, m.rows);
+	memcpy(img->data, m.data, m.rows*m.cols);
+	return img;
+}
+
+
+
+void writeImage(std::string filename, MinimalImageB* img)
+{
+	cv::imwrite(filename, cv::Mat(img->h, img->w, CV_8U, img->data));
+}
+void writeImage(std::string filename, MinimalImageB3* img)
+{
+	cv::imwrite(filename, cv::Mat(img->h, img->w, CV_8UC3, img->data));
+}
+void writeImage(std::string filename, MinimalImageF* img)
+{
+	cv::imwrite(filename, cv::Mat(img->h, img->w, CV_32F, img->data));
+}
+void writeImage(std::string filename, MinimalImageF3* img)
+{
+	cv::imwrite(filename, cv::Mat(img->h, img->w, CV_32FC3, img->data));
+}
+
+}
+
+}